New AGV Design And Kinematics And Dynamics Research

The proposal of "China’s smart manufacturing 2025" has promoted the intelligent upgrading of traditional manufacturing and the large-scale development of service.As an important part of intelligent manufacturing,AGV plays an important role in material transfer and logistics sorting.In the design process of AGV,the design of AGV mechanical structure is not enough,and the understanding of design boundary conditions such as AGV motion characteristics,dynamic characteristics and load distribution conditions is insufficient,which often leads to major errors in AGV service.In addition,the standardization of the design process and the weight reduction of the vehicle body are of great significance for the design of the AGV.Based on a bearing production line project,this paper completed the design of the new handling AGV through research,configuration synthesis,power matching,kinematics,dynamics modeling optimization,topology optimization,stress analysis,and debugging.The main contents include the following four aspects:First,after several actual measurements,the problems that occurred during the use of the AGV were summarized and analyzed,and the AGV design tasks were clarified.The configuration analysis of the AGV running mechanism and the drive unit finally determines the car body structure of the AGV.Through the analysis of the motion state of the AGV,the power,torque and speed of the AGV are determined,and the parameters of the drive motor,reducer and wheel are selected.Secondly,the AGV kinematics and dynamics model is established to determine the relationship between AGV motion and dynamic parameters and structural parameters.The worst conditions and operating conditions are selected as their boundary conditions,and the feasible fields of the AGV wheel and ground pressure are obtained.Through the curve fitting and optimization,the design parameters of the main structure are determined.Then,based on the main parameters determined by the mathematical model,a preliminary three-dimensional model is established.Based on its topology optimization mathematical model,the parameters of each main bearing member are optimized under the set boundary conditions.Based on this,a new three-dimensional model of AGV is obtained.Based on the results of finite element static analysis,the model parameters are continuously modified.Then the topology of the modified model is re-optimized,and the optimized parameters are re-modeled.The process is cycled and finally obtained.Under the condition,the virtual prototype model of AGV.Finally,the AGV prototype was subjected to wheel landing test,loading test,straight test,dynamic performance test and along the track test.The results show that the experimental results are in good agreement with the theoretical values,and the AGV can meet the expected design requirements.